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Tool Usage for AIRBOT Play#

In this tutorial, we introduce several tools for AIRBOT Replay, including:

  • Basic functions control: Supply simple control interface for AIRBOT Replay.

  • Params checking: Checking parameters of your AIRBOT Pro which may supply useful message when meeting problems.

AIRBOT control service#

Note

Notice that only after running this service can run other functions and SDK successfully.

Warning
  1. Confirm you have setup both your hardware and software correctly based on our guideline, and your hardwares are power on successfully (the light strip of hardware control panel should be on).
  2. The firmware has been upgraded to latest.
  3. No other devices or processes are sending CAN message on CAN bus.
  4. The robot will move to a specific pose during starting process, being too close to robot's workspace may be very dangerous.
  5. Avoid to use same port number for two or more robotics arms connected on same PC.

Startup command#

ros2 run airbot_sdk_server airbot_control

Optional parameters#

  • -i, --can-interface: choose connected AIRBOT Play according to CAN interface name which is can0 as default value. If you have only one CAN device and haven't specified CAB interface name, just skip it.
  • -d, --domain-id: specify a ROS DOMAIN ID used for your programs. An available ROS DOMAIN ID will be automatically choose default. If you don't know what is it, just skip it. The recommend range is 0-101, 215-232.
  • -p, --port: specify the service port number which is 50051 as default value. Don't use a same port number with other service process such as VPN. Remember to use different port number if you are running multiple AIRBOT devices on one PC.

Example usages#

ros2 run airbot_sdk_server airbot_control
ros2 run airbot_sdk_server airbot_control -i can1 -d 88
ros2 run airbot_sdk_server airbot_control -i can1 -d 88 -p 50000

Launch robot#

Plug on the power cable the robotic arm, just use launch_robot method of class AirbotPlay in our SDK to launch robot. Then you can use following functions by buttons or our SDK.

Shutdown robot#

If you want to stop your operation, just use shutdown_robot method of class AirbotPlay in our SDK.

Params check tool#

Warning
  1. Confirm you have setup both your hardware and software correctly based on our guideline, and your hardwares are power on successfully (the light strip of hardware control panel should be on).
  2. The firmware has been upgraded to latest.
  3. No other devices or processes are sending CAN message on CAN bus.

TBD